Added DS packet logging.

arena.go

@@ -341,8 +341,10 @@ func (arena *Arena) StartMatch() error {
 		// Save the missed packet count to subtract it from the running count.
 		for _, allianceStation := range arena.AllianceStations {
 			if allianceStation.DsConn != nil {
-				allianceStation.DsConn.DriverStationStatus.MissedPacketOffset =
-					allianceStation.DsConn.DriverStationStatus.MissedPacketCount
+				err = allianceStation.DsConn.signalMatchStart(arena.currentMatch)
+				if err != nil {
+					log.Println(err)
+				}
 			}
 		}
 

driver_station_connection.go

@@ -20,19 +20,18 @@ const driverStationProtocolVersion = "11191100"
 const driverStationLinkTimeoutMs = 500
 
 type DriverStationStatus struct {
-	TeamId             int
-	AllianceStation    string
-	DsLinked           bool
-	RobotLinked        bool
-	Auto               bool
-	Enabled            bool
-	EmergencyStop      bool
-	BatteryVoltage     float64
-	DsVersion          string
-	PacketCount        int
-	MissedPacketCount  int
-	MissedPacketOffset int
-	DsRobotTripTimeMs  int
+	TeamId            int
+	AllianceStation   string
+	DsLinked          bool
+	RobotLinked       bool
+	Auto              bool
+	Enabled           bool
+	EmergencyStop     bool
+	BatteryVoltage    float64
+	DsVersion         string
+	PacketCount       int
+	MissedPacketCount int
+	DsRobotTripTimeMs int
 }
 
 type DriverStationConnection struct {
@@ -47,6 +46,8 @@ type DriverStationConnection struct {
 	SecondsSinceLastRobotLink float64
 	conn                      net.Conn
 	packetCount               int
+	missedPacketOffset        int
+	log                       *TeamMatchLog
 }
 
 // Opens a UDP connection for communicating to the driver station.
@@ -76,6 +77,9 @@ func (dsConn *DriverStationConnection) Update() error {
 }
 
 func (dsConn *DriverStationConnection) Close() error {
+	if dsConn.log != nil {
+		dsConn.log.Close()
+	}
 	return dsConn.conn.Close()
 }
 
@@ -108,10 +112,24 @@ func ListenForDsPackets(listener *net.UDPConn) {
 				dsConn.LastRobotLinkedTime = time.Now()
 			}
 			dsConn.SecondsSinceLastRobotLink = time.Since(dsConn.LastRobotLinkedTime).Seconds()
+			dsConn.DriverStationStatus.MissedPacketCount -= dsConn.missedPacketOffset
+
+			// Log the packet if the match is in progress.
+			matchTimeSec := mainArena.MatchTimeSec()
+			if matchTimeSec > 0 && dsConn.log != nil {
+				dsConn.log.LogDsStatus(matchTimeSec, dsStatus)
+			}
 		}
 	}
 }
 
+func (dsConn *DriverStationConnection) signalMatchStart(match *Match) error {
+	dsConn.missedPacketOffset = dsConn.DriverStationStatus.MissedPacketCount
+	var err error
+	dsConn.log, err = NewTeamMatchLog(dsConn.TeamId, match)
+	return err
+}
+
 // Serializes the control information into a packet.
 func (dsConn *DriverStationConnection) encodeControlPacket() [74]byte {
 	var packet [74]byte

static/js/fta_display.js

@@ -25,7 +25,7 @@ var handleStatus = function(data) {
       $("#status" + station + " .trip-time").attr("data-status-ok", true);
       $("#status" + station + " .trip-time").text(dsStatus.DsRobotTripTimeMs.toFixed(1) + "ms");
       $("#status" + station + " .packet-loss").attr("data-status-ok", true);
-      $("#status" + station + " .packet-loss").text(dsStatus.MissedPacketCount - dsStatus.MissedPacketOffset);
+      $("#status" + station + " .packet-loss").text(dsStatus.MissedPacketCount);
     } else {
       $("#status" + station + " .ds-status").attr("data-status-ok", "");
       $("#status" + station + " .robot-status").attr("data-status-ok", "");

team_match_log.go

@@ -0,0 +1,51 @@
+// Copyright 2014 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Utilities for logging packets received from team driver stations during a match.
+
+package main
+
+import (
+	"fmt"
+	"log"
+	"os"
+	"time"
+)
+
+const logsDir = "static/logs"
+
+type TeamMatchLog struct {
+	logger  *log.Logger
+	logFile *os.File
+}
+
+func NewTeamMatchLog(teamId int, match *Match) (*TeamMatchLog, error) {
+	err := os.MkdirAll(logsDir, 0755)
+	if err != nil {
+		return nil, err
+	}
+
+	filename := fmt.Sprintf("%s/%s_%s_Match_%s_%d.csv", logsDir, time.Now().Format("20060102150405"),
+		match.CapitalizedType(), match.DisplayName, teamId)
+	logFile, err := os.Create(filename)
+	if err != nil {
+		return nil, err
+	}
+
+	log := TeamMatchLog{log.New(logFile, "", 0), logFile}
+	log.logger.Println("matchTimeSec,teamId,allianceStation,robotLinked,auto,enabled,emergencyStop," +
+		"batteryVoltage,dsVersion,packetCount,missedPacketCount,dsRobotTripTimeMs")
+
+	return &log, nil
+}
+
+func (log *TeamMatchLog) LogDsStatus(matchTimeSec float64, dsStatus *DriverStationStatus) {
+	log.logger.Printf("%f,%d,%s,%v,%v,%v,%v,%f,%s,%d,%d,%d", matchTimeSec, dsStatus.TeamId,
+		dsStatus.AllianceStation, dsStatus.RobotLinked, dsStatus.Auto, dsStatus.Enabled,
+		dsStatus.EmergencyStop, dsStatus.BatteryVoltage, dsStatus.DsVersion, dsStatus.PacketCount,
+		dsStatus.MissedPacketCount, dsStatus.DsRobotTripTimeMs)
+}
+
+func (log *TeamMatchLog) Close() {
+	log.logFile.Close()
+}

templates/base.html

@@ -34,6 +34,7 @@
               <ul class="dropdown-menu">
                 <li><a href="/match_play">Match Play</a></li>
                 <li><a href="/match_review">Match Review</a></li>
+                <li><a href="/static/logs">Match Logs</a></li>
               </ul>
             </li>
             <li class="dropdown">